PORTLAND, Ore. (AP) — A Multnomah County grand jury has found no criminal wrongdoing in the Portland police fatal police shooting of 51-year-old Koben Henriksen who was seen waving knives at passing cars in early December.

The grand jury determined that Officer Justin Raphael lawfully acted in self-defense or in the defense of others when he shot and killed Henriksen with an AR-15 rifle on Dec. 8, according to the district attorney’s office and police.

Officer Daniel Leonard fired less-lethal foam-tipped projectiles from a 40mm launcher, The Oregonian/OregonLive reported.

Police attempted to provide emergency medical care but Henriksen was pronounced dead at the scene.

Shortly after his son’s death, his father Rick Henriksen criticized the mental health and court systems that left his son to suffer on the street with a severe and persistent mental illness.

Rick Henriksen said he received a call Monday from the district attorney’s office informing him about the grand jury’s ruling.

While Rick Henriksen said he can’t say whether the officers’ actions were criminal, he believes the officers’ force was out of line and that it was an excessive use of force. He said the family has retained a lawyer to investigate further.